Picking device

Abstract

In a picking device configured to insert a pipet tip or similar sampling tool in a tilted posture into a container and to sample a sampling target from the same container, a picking device is provided which can avoid the situation in which an area from which the sampling target cannot be sampled occurs within the container. The picking device includes: a placement table having a placement surface on which a container is to be placed; a placement table rotation mechanism configured to rotate the placement table about a rotation axis which is a virtual axis orthogonal to the placement surface and passing through the center of the placement surface; a rod-shaped or tube-shaped sampling tool having a tip end configured to be inserted into the container, in a tilted posture to the rotation axis; and a sampling tool moving mechanism configured to move the sampling tool.

1 . A picking device, comprising:
 a placement table having a placement surface on which a container is to be placed;   a placement table rotation mechanism configured to rotate the placement table about a rotation axis which is a virtual axis orthogonal to the placement surface and passing through a center of the placement surface;   a rod-shaped or tube-shaped sampling tool having a tip end configured to be inserted into the container, in a tilted posture to the rotation axis; and   a sampling tool moving mechanism configured to move the sampling tool.   
     
     
         2 . The picking device according to  claim 1 , further comprising:
 a placement table moving mechanism configured to move the placement table in a plane parallel to the placement surface;   an imager configured to take an image of the container from above or below;   a display section configured to display an image of an inner area of the container taken with the imager;   a sampling target indication receiver configured to receive an indication of a sampling target by a user on the image of the inner area of the container displayed on the display section;   a determiner configured to determine whether or not the sampling target is within an arrangeable area which is an area which the tip end of the sampling tool can be brought into by either moving the placement table by means of the placement table moving mechanism or moving the sampling tool by means of the sampling tool moving mechanism, or by combining both moving operations, without causing interference between the sampling tool and the container; and   a rotation controller configured to drive the placement table rotation mechanism so as to bring the sampling target into the arrangeable area when it is concluded by the determiner that the sampling target is not within the arrangeable area.   
     
     
         3 . The picking device according to  claim 1 , further comprising:
 a placement table moving mechanism configured to move the placement table in a plane parallel to the placement surface; and   a placement table move limiter configured to limit an area within which the placement table can be moved by the placement table moving mechanism, to a range within which no interference occurs between the sampling tool and the container in a situation where the tip end of the sampling tool is inserted in the container by the sampling tool moving mechanism.   
     
     
         4 . The picking device according to  claim 3 , further comprising:
 a move command receiver configured to receive a command for initiating a move of the placement table in a specific direction and a command for discontinuing the move,   wherein:   the placement table move limiter is configured to determine a distance over which the placement table is movable in the specific direction without causing interference between the sampling tool and the container and to initiate the move of the placement table in the specific direction by means of the placement table moving mechanism when the command for initiating the move is received by the move command receiver, as well as to discontinue the move of the placement table at a later point in time which is either a point in time when the aforementioned movable distance has been reached or a point in time when the command for discontinuing the move is received by the move command receiver, whichever earlier.   
     
     
         5 . The picking device according to  claim 3 , further comprising:
 a target position indication receiver configured to receive an indication of a target position of the placement table by the user,   wherein:   the placement table move limiter is configured to determine whether or not a move of the placement plate to the target position is possible without causing interference between the sampling tool and the container by moving the placement table by means of the placement table moving mechanism when the indication of the target position is received by the target position indication receiver, as well as to carry out the move of the placement table to the target position by means of the placement table moving mechanism if it is concluded that the move is possible, and to prevent the move if it is concluded that the move is impossible.   
     
     
         6 . A picking device, comprising:
 a placement table having a placement surface on which a container is to be placed;   a placement table moving mechanism configured to move the placement table in a plane parallel to the placement surface;   a rod-shaped or tube-shaped sampling tool having a tip end configured to be inserted into the container, in a tilted posture to an axis perpendicular to the placement surface;   a sampling tool moving mechanism configured to move the sampling tool; and   a placement table move limiter configured to limit an area within which the placement table can be moved by the placement table moving mechanism, to a range within which no interference occurs between the sampling tool and the container in the situation where the tip end of the sampling tool is inserted in the container by the sampling tool moving mechanism.   
     
     
         7 . The picking device according to  claim 6 , further comprising:
 a move command receiver configured to receive a command for initiating a move of the placement table in a specific direction and a command for discontinuing the move, wherein:   the placement table move limiter is configured to determine a distance over which the placement table is movable in the specific direction without causing interference between the sampling tool and the container and to initiate the move of the placement table in the specific direction by means of the placement table moving mechanism when the command for initiating the move is received by the move command receiver, as well as to discontinue the move of the placement table at a later point in time which is either a point in time when the aforementioned movable distance has been reached or a point in time when the command for discontinuing the move is received by the move command receiver, whichever earlier.   
     
     
         8 . The picking device according to  claim 6 , further comprising:
 a target position indication receiver configured to receive an indication of a target position of the placement table by the user,   wherein:   the placement table move limiter is configured to determine whether or not a move of the placement plate to the target position is possible without causing interference between the sampling tool and the container by moving the placement table by means of the placement table moving mechanism when the indication of the target position is received by the target position indication receiver, as well as to carry out the move of the placement table to the target position by means of the placement table moving mechanism if it is concluded that the move is possible, and to prevent the move if it is concluded that the move is impossible.